def do_perception(self, req):
rospy.loginfo("[grasp_obj_button] Perceiving object buttons...")
# perceive object on table
self.objects = self.obj_seg_srv().objects
for i in range(len(self.objects)):
self.objects[i].color.r = 256
self.objects[i].color.g = 0
self.objects[i].color.b = 0
self.objects[i].color.a = 256
# return object buttons
resp = PerceiveButtonsResponse()
resp.buttons = self.objects
return resp
def do_perception(self, req):
# segment surfaces
rospy.loginfo("[move_floor_button] Segmenting floor")
self.surfaces = self.floor_seg_srv().surfaces
for i in range(len(self.surfaces)):
self.surfaces[i].color.r = 0
self.surfaces[i].color.g = 0
self.surfaces[i].color.b = 256
self.surfaces[i].color.a = 256
if len(self.surfaces) != 0:
self.percept_pub.publish(self.surfaces[0])
resp = PerceiveButtonsResponse()
resp.buttons = self.surfaces
return resp
def do_perception(self, req):
# capture a few clouds
rate = rospy.Rate(5)
for i in range(5):
self.pc_capture_srv()
rate.sleep()
# segment surfaces
self.surfaces = self.table_seg_srv().surfaces
for i in range(len(self.surfaces)):
self.surfaces[i].color.r = 0
self.surfaces[i].color.g = 256
self.surfaces[i].color.b = 0
self.surfaces[i].color.a = 256
self.percept_pub.publish(self.surfaces[0])
resp = PerceiveButtonsResponse()
resp.buttons = self.surfaces
return resp
def do_perception(self, req):
rospy.loginfo("[place_object] Perceiving table...")
# capture a few clouds
rate = rospy.Rate(5)
for i in range(5):
self.pc_capture_srv()
rate.sleep()
# segment surfaces
self.surfaces = self.table_seg_srv().surfaces
for i in range(len(self.surfaces)):
self.surfaces[i].color.r = 256
self.surfaces[i].color.g = 0
self.surfaces[i].color.b = 256
self.surfaces[i].color.a = 256
resp = PerceiveButtonsResponse()
resp.buttons = self.surfaces
return resp
def do_perception(self, req):
rospy.loginfo("[place_object] Perceiving table...")
# capture a few clouds
rate = rospy.Rate(5)
for i in range(5):
self.pc_capture_srv()
rate.sleep()
# segment surfaces
self.surfaces = self.table_seg_srv().surfaces
for i in range(len(self.surfaces)):
self.surfaces[i].color.r = 256
self.surfaces[i].color.g = 0
self.surfaces[i].color.b = 256
self.surfaces[i].color.a = 256
resp = PerceiveButtonsResponse()
resp.buttons = self.surfaces
return resp